Robotic assembly of modular concrete shells using falsework

Developments in the Built Environment, vol. 21, pp. 100616

Abstract

The rapid development of robotics has the potential to transform the construction industry of the future. One possible application of robots is the assembly of modular concrete shells. This type of structure saves materials, while the modular approach makes them more cost-effective by eliminating the need for formwork. So far, however, robots have struggled to accurately position modules when assembling large modular shells on the construction site. The authors propose an alternative approach to the robotic assembly of modular shells based on the use of modular falsework. The presence of a falsework enables the creation of large-scale shells of complex shapes out of an unlimited number of modules while ensuring the accuracy of their positioning. This paper describes a possible methodology for implementing this approach and validates it by assembling a demonstrator, as well as presents the results of static and dynamic analysis of the modules moved by the robot. • Approach to automated assembly of modular concrete shells using falsework is proposed. • Modular falsework is reusable, reconfigurable and provides precise module positioning. • Multi-staged approach with a joint feedback loop enables flexible reconfiguration. • Structural analysis of modules during assembly ensures the undamaged construction. • The feasibility of the approach is demonstrated by assembling a modular arch.

Authors 10

1. Egor Ivaniuk corresponding

   Technische Universität Dresden

   Affiliation as printed

   TU Dresden, Institute of Construction Materials, Dresden, Germany

2. Dmytro Pukhkaiev

   Technische Universität Dresden

   Affiliation as printed

   TU Dresden, Faculty of Computer Science, Software Technology Group, Dresden, Germany

3. Mathias Reichle Aachen Chair of Structural Analysis and Dynamics

   RWTH Aachen University

   Affiliation as printed

   RWTH Aachen University, Chair of Structural Analysis and Dynamics, Aachen, Germany

4. Wanqi Zhao

   Technische Universität Dresden

   Affiliation as printed

   TU Dresden, Faculty of Computer Science, Software Technology Group, Dresden, Germany

5. Johannes Mey

   Technische Universität Dresden

   Affiliation as printed

   TU Dresden, Faculty of Computer Science, Software Technology Group, Dresden, Germany

6. Manuel Krombholz

   Technische Universität Dresden

   Affiliation as printed

   TU Dresden, Faculty of Computer Science, Software Technology Group, Dresden, Germany

7. Zlata Tošić

   Technische Universität Dresden

   Affiliation as printed

   TU Dresden, Faculty of Mathematics, Institute of Geometry, Dresden, Germany

8. Uwe Aßmann

   Technische Universität Dresden

   Affiliation as printed

   TU Dresden, Faculty of Computer Science, Software Technology Group, Dresden, Germany

9. Sven Klinkel Aachen Chair of Structural Analysis and Dynamics

   RWTH Aachen University

   Affiliation as printed

   RWTH Aachen University, Chair of Structural Analysis and Dynamics, Aachen, Germany

10. Viktor Mechtcherine

    Technische Universität Dresden

    Affiliation as printed

    TU Dresden, Institute of Construction Materials, Dresden, Germany